Cooperative Control of Multi-Agent Systems: A Consensus by Zhongkui Li

By Zhongkui Li

Distributed controller layout is mostly a difficult job, particularly for multi-agent platforms with advanced dynamics, because of the interconnected influence of the agent dynamics, the interplay graph between brokers, and the cooperative keep an eye on legislation. Cooperative keep an eye on of Multi-Agent platforms: A Consensus zone technique offers a scientific framework for designing disbursed controllers for multi-agent platforms with basic linear agent dynamics, linear agent dynamics with uncertainties, and Lipschitz nonlinear agent dynamics.

Beginning with an creation to cooperative regulate and graph idea, this monograph:

  • Explores the consensus keep an eye on challenge for continuous-time and discrete-time linear multi-agent systems
  • Studies the H∞ and H2 consensus difficulties for linear multi-agent platforms topic to exterior disturbances
  • Designs disbursed adaptive consensus protocols for continuous-time linear multi-agent structures
  • Considers the allotted monitoring keep watch over challenge for linear multi-agent structures with a pace-setter of nonzero keep an eye on input
  • Examines the allotted containment keep watch over challenge for the case with a number of leaders
  • Covers the powerful cooperative keep watch over challenge for multi-agent structures with linear nominal agent dynamics topic to heterogeneous matching uncertainties
  • Discusses the worldwide consensus challenge for Lipschitz nonlinear multi-agent systems

Cooperative keep watch over of Multi-Agent platforms: A Consensus area strategy provides a singular method of designing allotted cooperative protocols for multi-agent structures with advanced dynamics. The proposed consensus sector decouples the layout of the suggestions achieve matrices of the cooperative protocols from the conversation graph and serves as a degree for the robustness of the protocols to diversifications of the verbal exchange graph. via exploiting the decoupling characteristic, adaptive cooperative protocols are offered that may be designed and carried out in a completely allotted fashion.

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Additional resources for Cooperative Control of Multi-Agent Systems: A Consensus Region Approach

Sample text

3 Consensus Protocol Design . . . . . . . . . . . . . . . . . 1 The Special Case with Neutrally Stable Agents . 2 The General Case . . . . . . . . . . . . . . . . . 3 Consensus with a Prescribed Convergence Rate . Observer-Type Consensus Protocols . . . . . . . . . . . . . . . . . 1 Full-Order Observer-Type Protocol I . . . . . . . . . . . . 2 Full-Order Observer-Type Protocol II . . . . . . . . . . . 3 Reduced-Order Observer-Based Protocol .

For directed communication graphs, the consensus regions can be roughly classified into five types, namely, bounded consensus region, consensus region with unbounded real part but bounded imaginary part, consensus region with unbounded imaginary part but bounded real part, consensus region with both unbounded real and imaginary parts, and disconnected consensus regions. For undirected communication graphs, there are only three different types of consensus regions, namely, bounded consensus region, unbounded consensus region, and disconnected consensus region.

1 Then, compute matrices Q1 and Q2 by [ Q1 Q2 ] = [ C ] . 18) to get one solution P > 0. Then, choose the matrix K = −B T P −1 . 19). 36) and further to satisfy that [ C T ] is nonsingular is that (F, G) is controllable, (A, C) is observable, and F and A have no common eigenvalues. 1) is single-input single-output (SISO), this condition is also sufficient. Under such a condition, it is shown for the general MIMO case that the probability for [ C T ] to be nonsingular is 1 [23]. If [ C ] is singular in step 2), we need to go back to step 1) and repeat the T process.

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